diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index 7407b60f46..870719afaa 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -254,6 +254,7 @@ void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
     return;
   }
   encoder->distancePerPulse = distancePerPulse;
+  SimEncoderData[encoder->index].SetDistancePerPulse(distancePerPulse);
 }
 void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
                                     HAL_Bool reverseDirection,
diff --git a/hal/src/main/native/sim/MockData/EncoderData.cpp b/hal/src/main/native/sim/MockData/EncoderData.cpp
index 64a2e20c35..b8da1b7496 100644
--- a/hal/src/main/native/sim/MockData/EncoderData.cpp
+++ b/hal/src/main/native/sim/MockData/EncoderData.cpp
@@ -38,6 +38,8 @@ void EncoderData::ResetData() {
   m_reverseDirectionCallbacks = nullptr;
   m_samplesToAverage = 0;
   m_samplesToAverageCallbacks = nullptr;
+  m_distancePerPulse = 0;
+  m_distancePerPulseCallbacks = nullptr;
 }
 
 int32_t EncoderData::RegisterInitializedCallback(HAL_NotifyCallback callback,
@@ -330,6 +332,42 @@ void EncoderData::SetSamplesToAverage(int32_t samplesToAverage) {
   }
 }
 
+int32_t EncoderData::RegisterDistancePerPulseCallback(
+    HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {
+  // Must return -1 on a null callback for error handling
+  if (callback == nullptr) return -1;
+  int32_t newUid = 0;
+  {
+    std::lock_guard<wpi::mutex> lock(m_registerMutex);
+    m_distancePerPulseCallbacks =
+        RegisterCallback(m_distancePerPulseCallbacks, "DistancePerPulse",
+                         callback, param, &newUid);
+  }
+  if (initialNotify) {
+    // We know that the callback is not null because of earlier null check
+    HAL_Value value = MakeDouble(GetDistancePerPulse());
+    callback("DistancePerPulse", param, &value);
+  }
+  return newUid;
+}
+void EncoderData::CancelDistancePerPulseCallback(int32_t uid) {
+  m_distancePerPulseCallbacks =
+      CancelCallback(m_distancePerPulseCallbacks, uid);
+}
+
+void EncoderData::InvokeDistancePerPulseCallback(HAL_Value value) {
+  InvokeCallback(m_distancePerPulseCallbacks, "DistancePerPulse", &value);
+}
+
+double EncoderData::GetDistancePerPulse() { return m_distancePerPulse; }
+
+void EncoderData::SetDistancePerPulse(double distancePerPulse) {
+  double oldValue = m_distancePerPulse.exchange(distancePerPulse);
+  if (oldValue != distancePerPulse) {
+    InvokeDistancePerPulseCallback(MakeDouble(distancePerPulse));
+  }
+}
+
 extern "C" {
 void HALSIM_ResetEncoderData(int32_t index) {
   SimEncoderData[index].ResetData();
@@ -511,5 +549,7 @@ void HALSIM_RegisterEncoderAllCallbacks(int32_t index,
                                                          initialNotify);
   SimEncoderData[index].RegisterSamplesToAverageCallback(callback, param,
                                                          initialNotify);
+  SimEncoderData[index].RegisterDistancePerPulseCallback(callback, param,
+                                                         initialNotify);
 }
 }  // extern "C"
diff --git a/hal/src/main/native/sim/MockData/EncoderDataInternal.h b/hal/src/main/native/sim/MockData/EncoderDataInternal.h
index c61eba5fec..df86ec6230 100644
--- a/hal/src/main/native/sim/MockData/EncoderDataInternal.h
+++ b/hal/src/main/native/sim/MockData/EncoderDataInternal.h
@@ -75,6 +75,13 @@ class EncoderData {
   int32_t GetSamplesToAverage();
   void SetSamplesToAverage(int32_t samplesToAverage);
 
+  int32_t RegisterDistancePerPulseCallback(HAL_NotifyCallback callback,
+                                           void* param, HAL_Bool initialNotify);
+  void CancelDistancePerPulseCallback(int32_t uid);
+  void InvokeDistancePerPulseCallback(HAL_Value value);
+  double GetDistancePerPulse();
+  void SetDistancePerPulse(double distancePerPulse);
+
   virtual void ResetData();
 
  private:
@@ -95,6 +102,8 @@ class EncoderData {
   std::shared_ptr<NotifyListenerVector> m_reverseDirectionCallbacks = nullptr;
   std::atomic<int32_t> m_samplesToAverage{0};
   std::shared_ptr<NotifyListenerVector> m_samplesToAverageCallbacks = nullptr;
+  std::atomic<double> m_distancePerPulse{0};
+  std::shared_ptr<NotifyListenerVector> m_distancePerPulseCallbacks = nullptr;
 };
 extern EncoderData* SimEncoderData;
 }  // namespace hal